\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 51.94 \% & 77.11 \% & 52.30 \% & 82.73 \%\\
PEDESTRIAN & 27.54 \% & 68.48 \% & 27.96 \% & 91.90 \%
\end{tabular}

\begin{tabular}{c | c | c | c | c | c | c | c | c}
{\bf Benchmark} & {\bf recall} & {\bf precision} & {\bf F1} & {\bf TP} & {\bf FP} & {\bf FN} & {\bf FAR} & {\bf #objects} & {\bf #trajectories}\\ \hline
CAR & 55.96 \% & 96.09 \% & 70.73 \% & 19819 & 807 & 15598 & 7.25 \% & 23188 & 935\\
PEDESTRIAN & 36.73 \% & 80.82 \% & 50.51 \% & 8511 & 2020 & 14658 & 18.16 \% & 12687 & 520
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 20.00 \% & 48.46 \% & 31.54 \% & 125 & 396\\
PEDESTRIAN & 8.93 \% & 39.18 \% & 51.89 \% & 96 & 608
\end{tabular}